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<div class="title">DENSOrobot.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef __DENSO_H__</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define __DENSO_H__</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// DSInvKine.cpp : rewrite inverse kinematic solver for DENSO in Cpp</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// v1.0 (02/09/12): created</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// v2.0 (18/09/12): split to cpp, hpp and start coding</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">// v2.3 (13/05/13): checkOut(Mat&amp;) is upgraded angle = angle*(1-1/(2*PI))</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// v2.4 (13/05/13): JTrajPlanner -&gt; correctly update JPose</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// v2.5 (22/05/13): getVelJacob is updated to return m and rad</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//#include &quot;stdafx.h&quot;</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//#include &lt;cv.h&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">//#include &lt;cxcore.h&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">//#include &lt;highgui.h&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;opencv/cv.h&gt;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;opencv2/features2d/features2d.hpp&gt;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;opencv2/highgui/highgui.hpp&gt;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;opencv2/imgproc/imgproc.hpp&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;opencv2/calib3d/calib3d.hpp&gt;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">//#include &quot;OpenCV/matwork.hpp&quot;</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;MatWork.hpp&quot;</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;RS232.h&quot;</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">const</span> <span class="keywordtype">double</span> INF = 999999999999999;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">using namespace </span>cv;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">using namespace </span>std;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structDHtable.html">   41</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structDHtable.html">DHtable</a></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordtype">double</span> a1, a2, a3, a4, a5, a6;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">double</span> d1, d2, d3, d4, d5, d6;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">double</span> alf1, alf2, alf3, alf4, alf5, alf6;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;};</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classDENSOrobot.html">   49</a></span>&#160;<span class="keyword">class </span><a class="code" href="classDENSOrobot.html">DENSOrobot</a></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    RS232 serialPort;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    Mat DENSOrobot::RPY_DENSO(<span class="keyword">const</span> Mat fnlpose);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::cs4Cal_v20(<span class="keywordtype">double</span> fi1, <span class="keywordtype">double</span> fi2, <span class="keywordtype">double</span> fi3, <span class="keywordtype">double</span> fi5, <span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az, </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordtype">double</span>&amp; cfi, <span class="keywordtype">double</span>&amp; sfi);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::abCal_v20(<span class="keywordtype">double</span> fi1, <span class="keywordtype">double</span> fi2, <span class="keywordtype">double</span> fi3, <span class="keywordtype">double</span> nx, <span class="keywordtype">double</span> ny, <span class="keywordtype">double</span> nz, <span class="keywordtype">double</span> ox, <span class="keywordtype">double</span> oy, <span class="keywordtype">double</span> oz, </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordtype">double</span>&amp; A, <span class="keywordtype">double</span>&amp; B);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::cs6Cal_v20(<span class="keywordtype">double</span> A, <span class="keywordtype">double</span> B, <span class="keywordtype">double</span> fi5, </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">double</span>&amp; cfi, <span class="keywordtype">double</span>&amp; sfi);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">// char DENSOrobot::checkSOL(Mat&amp; joints);   // moved to public (22/05/13)</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">int</span> DENSOrobot::checkOut(<span class="keywordtype">double</span>* joints);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">//int DENSOrobot::checkOut(Mat&amp; joints);    // moved to public (22/05/13)</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::getDefaultPose();</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// created 18/06/13 -&gt; moved to public 25/06/13</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">//int DENSOrobot::llv2intCoordSys(cv::Mat&amp; Pose, int mode);</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">int</span> CTRL_MODE_JOINT = 0;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">int</span> CTRL_MODE_XYZ = 1;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// current robot&#39;s state:</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// Pose = [x y z r p y]</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">// JPose = [j1 j2 j3 j4 j5 j6]</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="comment">// CPose = Pose</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">// (14/10/14) added CPose for clearly declaring Cartesian Pose</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    Mat Pose, JPose, CPose;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <a class="code" href="structDHtable.html">DHtable</a> DH;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">int</span> use_RS232;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="comment">// **** constructors (some to be deprecated):</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="comment">//DENSOrobot();  // !!  potential conflict with DENSOrobot(int use_RS232_flg=0)</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// only give default value to the last argument and only in header file</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="classDENSOrobot.html">DENSOrobot</a>(<span class="keywordtype">int</span> use_RS232_flg=0);  <span class="comment">// !!</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">// Default initialization of InitPose is JPose</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <a class="code" href="classDENSOrobot.html">DENSOrobot</a>(<span class="keyword">const</span> Mat InitPose, <span class="keywordtype">int</span> use_RS232_flg=0);  <span class="comment">// !!</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    ~<a class="code" href="classDENSOrobot.html">DENSOrobot</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="comment">// **** end of constructors</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDENSOrobot.html#a8fce3794ab1ed852a89c83ce696a3a91">DENSOrobot::FKineSolve</a>(<span class="keyword">const</span> Mat fi, Mat&amp; A);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">// Date created: 20/04/13</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">// Description: - work with Radian angles</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="comment">//              - returning e1,...,e6; B1,...,B6</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDENSOrobot.html#a8fce3794ab1ed852a89c83ce696a3a91">DENSOrobot::FKineSolve</a>(<span class="keyword">const</span> Mat fi, Mat&amp; e, Mat&amp; B, Mat&amp; A);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDENSOrobot.html#acd6cd29757ffbb8ed538f64a444eecda">DENSOrobot::IKineSolve</a>(<span class="keyword">const</span> Mat fnlpose, Mat&amp; SOL);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">char</span> <a class="code" href="classDENSOrobot.html#a6bef1fee42dbb8ca0fb4964cc717cae4">DENSOrobot::checkSOL</a>(Mat&amp; joints); <span class="comment">// moved to public (22/05/13)</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">int</span> DENSOrobot::checkOut(Mat&amp; joints);  <span class="comment">// moved to public (22/05/13)</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    Mat DENSOrobot::rotx(<span class="keywordtype">double</span> fi);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    Mat DENSOrobot::roty(<span class="keywordtype">double</span> fi);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    Mat DENSOrobot::rotz(<span class="keywordtype">double</span> fi);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classDENSOrobot.html#a348a77f48e98fe738f6ec02c087f02be">DENSOrobot::TrajPlanner</a>(<span class="keyword">const</span> Mat OrgPose, <span class="keyword">const</span> Mat DestPose, Mat&amp; BestTraj);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// Joint Control: check workspace condition and send to RS232</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="comment">// DstPose = [j1 j2 j3 j4 j5 j6] (rad)</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classDENSOrobot.html#aeaa7ab13e9d6aac7a77c9f24ec0280aa">DENSOrobot::JTrajPlanner</a>(<span class="keyword">const</span> Mat DstPose);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// v_ee = J*theta_dot -&gt; velocity screw relates to joint angular velocity</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="comment">//void DENSOrobot::getVelJacob(Mat&amp; Jacob);</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">void</span> getVelJacob(Mat&amp; Jacob, Mat&amp; A_16);   <span class="comment">// A_123456 (tranf mat from ee to base)</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classDENSOrobot.html#aee855f953dbe3d2f93348a7645b2d7bf">DENSOrobot::updateJPose</a>(<span class="keyword">const</span> Mat JPose_inp);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="comment">// v2.0 (14/10/14) update state value directly from caller depending on control mode (joint/xyz)</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">int</span> DENSOrobot::inputPose(<span class="keyword">const</span> Mat Pose_inp, <span class="keywordtype">int</span> mode = CTRL_MODE_JOINT)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordflow">if</span> (mode == CTRL_MODE_JOINT)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;            updateJPose(Pose_inp);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;            </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        } <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            <span class="keywordflow">if</span> (mode == CTRL_MODE_XYZ)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;            {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                  Pose_inp.copyTo(CPose);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;              </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                  <span class="comment">// error occurs</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    };</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="comment">// ********** Velocity Control</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::calcJointRate();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::calcJPose1(<span class="keyword">const</span> Mat theta_d, <span class="keyword">const</span> Mat JPose0, Mat&amp; JPose1);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="comment">// v2.0 (14/10/14) add mode to distinct joint and xyz control modes</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">void</span> DENSOrobot::calcPose1(<span class="keyword">const</span> Mat theta_d, <span class="keyword">const</span> Mat JPose0, Mat&amp; JPose1, <span class="keywordtype">int</span> mode)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordflow">if</span> (mode == CTRL_MODE_JOINT)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;            calcJPose1(theta_d, JPose0, JPose1);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        } <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <span class="keywordflow">if</span> (mode == CTRL_MODE_XYZ)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;          {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            <span class="comment">// Cartesian XYZ mode</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;            Mat screw = theta_d;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            Mat CPose0 = JPose0;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            <span class="keywordtype">double</span> rbdelta_t = 0.01;   <span class="comment">// make it small to refine discretization. 0.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            Mat CPose1 = CPose0 + screw*rbdelta_t;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            <span class="comment">// check CPose1 within workspace (Optional)</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            <span class="comment">// return Cartesian Pose</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;            CPose1.copyTo(JPose1);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;            </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;              <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          }  </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          <span class="keywordflow">return</span> 1;   </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    };</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordtype">int</span> DENSOrobot::VelCtrl(<span class="keyword">const</span> cv::Mat VelScrew);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classDENSOrobot.html#a1773a06769ec32d82bb3d37841e5adef">  209</a></span>&#160;    <span class="keywordtype">int</span> DENSOrobot::VelCtrl(<span class="keyword">const</span> Mat VelScrew, <span class="keywordtype">int</span> mode)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">if</span> (mode == CTRL_MODE_JOINT)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        VelCtrl(VelScrew);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        } <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;          <span class="keywordflow">if</span> (mode == CTRL_MODE_XYZ)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          Mat CPose1;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          calcPose1(VelScrew, CPose0, CPose1);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;          <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;          }  </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="comment">//void DENSOrobot::calcJointRate();</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// ********** Velocity Control</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordtype">void</span> calcJPose1(<span class="keyword">const</span> Mat theta_d, <span class="keyword">const</span> Mat JPose0, Mat JPose1);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordtype">int</span> DENSOrobot::llv2intCoordSys(cv::Mat&amp; Pose, <span class="keywordtype">int</span> mode);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;};</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="classDENSOrobot_html_a6bef1fee42dbb8ca0fb4964cc717cae4"><div class="ttname"><a href="classDENSOrobot.html#a6bef1fee42dbb8ca0fb4964cc717cae4">DENSOrobot::checkSOL</a></div><div class="ttdeci">char checkSOL(Mat &amp;joints)</div><div class="ttdoc">check a joint pose whether it is within workrange </div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:1649</div></div>
<div class="ttc" id="classDENSOrobot_html_aee855f953dbe3d2f93348a7645b2d7bf"><div class="ttname"><a href="classDENSOrobot.html#aee855f953dbe3d2f93348a7645b2d7bf">DENSOrobot::updateJPose</a></div><div class="ttdeci">void updateJPose(const Mat JPose_inp)</div><div class="ttdoc">update joint state value directly from caller, deprecated by 14/10/14 and replaced by inputPose ...</div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:1715</div></div>
<div class="ttc" id="classDENSOrobot_html_acd6cd29757ffbb8ed538f64a444eecda"><div class="ttname"><a href="classDENSOrobot.html#acd6cd29757ffbb8ed538f64a444eecda">DENSOrobot::IKineSolve</a></div><div class="ttdeci">void IKineSolve(const Mat fnlpose, Mat &amp;SOL)</div><div class="ttdoc">Inverse kinematic module. </div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:801</div></div>
<div class="ttc" id="classDENSOrobot_html"><div class="ttname"><a href="classDENSOrobot.html">DENSOrobot</a></div><div class="ttdef"><b>Definition:</b> DENSOrobot.hpp:49</div></div>
<div class="ttc" id="classDENSOrobot_html_a8fce3794ab1ed852a89c83ce696a3a91"><div class="ttname"><a href="classDENSOrobot.html#a8fce3794ab1ed852a89c83ce696a3a91">DENSOrobot::FKineSolve</a></div><div class="ttdeci">void FKineSolve(const Mat fi, Mat &amp;A)</div><div class="ttdoc">Forward kinematic calculation. </div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:406</div></div>
<div class="ttc" id="structDHtable_html"><div class="ttname"><a href="structDHtable.html">DHtable</a></div><div class="ttdef"><b>Definition:</b> DENSOrobot.hpp:41</div></div>
<div class="ttc" id="classDENSOrobot_html_aeaa7ab13e9d6aac7a77c9f24ec0280aa"><div class="ttname"><a href="classDENSOrobot.html#aeaa7ab13e9d6aac7a77c9f24ec0280aa">DENSOrobot::JTrajPlanner</a></div><div class="ttdeci">int JTrajPlanner(const Mat DstPose)</div><div class="ttdoc">Joint Control - check workspace condition and send to RS232. </div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:1556</div></div>
<div class="ttc" id="classDENSOrobot_html_a348a77f48e98fe738f6ec02c087f02be"><div class="ttname"><a href="classDENSOrobot.html#a348a77f48e98fe738f6ec02c087f02be">DENSOrobot::TrajPlanner</a></div><div class="ttdeci">int TrajPlanner(const Mat OrgPose, const Mat DestPose, Mat &amp;BestTraj)</div><div class="ttdoc">path planning/selection to destination pose (DstPose) and perform the move </div><div class="ttdef"><b>Definition:</b> DENSOrobot.cpp:1431</div></div>
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